【摘要】 在传统的波控制器的基础上,用线性两点预测与五点二次预测凸联合的方法对主端的命令与反馈力进行在线预测。仿真结果表明,只要对时延的辨识足够精确,该方法能够在保证系统稳定的前提下一定程度上提高系统的操作性能。更多还原

【Abstract】 A new control scheme for time-delayed teleoperation system is proposed by combining linear-two-point-prediction and five-point-square-prediction on the master side based on traditional wave controller.Simulation results show that the scheme can guarantee the stability and improve the operation performance to a certain extent if the delay time is identified accurately enough.更多还原